Problem with Genserkins

Hi,

I want to connect a robot arm with linuxcnc and therefore I am configuring genserkins

But I experience a problem.
The inverse transformation always fails with error 5.
This happens with my own dh parameters but also with the default dh parameters. Also it doesn't make a difference to start the genserkins tool as single instance or to use it inside my configuration. I am using already linuxcnc 2.7.0 but same problem with 2.6.9.


Here is the ouput of the genserkins command line tool:
fwd> 0 0 0 0 0 0
350.000000 70.000000 -400.000000 -180.000000 0.000000 0.000000
ERRkineInverse(joints: 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000), (iterations=0)
0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
inv kins error 5

Does somebody use genserkins and can send me a working configuration? Is this maybe a problem with my realtime configuration?

Best regards
Christian Görg

Hi,

I used pumakins, because my robot config has 5 DOF.

I attach the PUMA560 config.

One question. How do you that?

Thanks for your help.

To get this plot just use the genserkins executable, which comes with linuxcnc. It uses the standard DH-parameters defined in the sourcecode of genserkins.

So I will check your config, if it will work for me. Maybe I can get a clue what is wrong with the genserkins

No problem,

how do you use the *.o executable file for generate the plot? When you compiled your *.c file or .....

thanks.

The Pumakins did work. The kinematic transformation did output values.
Unfortunately my robot kinematics need the genserkins module.

Didn't anybody used genserkins successfully in the past months?

@jstoquica: You can use the binary genserkins by starting it with the following script: LINUXCNC_SRC/scripts/rip-environment genserkins

Hi,

I'm using genserkins as well a pumakins for my puma robot successfully. You can take a look at my post: forum.linuxcnc.org/forum/10-advanced-con...ation-using-pumakins
First I started with a simulation setup and had also some issue with genserkins - but more with the correct DH parameters for the Puma.
Now I'm using the genserkins with the real puma arm and it works fine. I would recommend that you start with the linuxcnc-included Puma simulation with vismach. There you can easily test pumakins and genserkins on a simulated robot example.